% Copyright 2020 Makani Technologies LLC
%
% Licensed under the Apache License, Version 2.0 (the "License");
% you may not use this file except in compliance with the License.
% You may obtain a copy of the License at
%
%      http://www.apache.org/licenses/LICENSE-2.0
%
% Unless required by applicable law or agreed to in writing, software
% distributed under the License is distributed on an "AS IS" BASIS,
% WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
% See the License for the specific language governing permissions and
% limitations under the License.

function out = SkewSym(x)

% Skew symmetric cross product operator
% cross(x,y) = SkewSym(x)*y

out = [0    -x(3)   x(2);
       x(3)   0    -x(1);
      -x(2)  x(1)   0];
